KR960014579B1 - Method and apparatus for preserving tention of power code in a cleaner - Google Patents

Abstract

The apparatus and method regulates the tension of the power cord in the self running cleaner. The apparatus comprises: a motor(4); a screw type plate spring(10) with one end fixed on a motor shaft(6) and the other end fixed to a rotary plate(12); the rotary plate(12) winding the power code(2); a power source(16) converting A/C voltage into D/C voltage; photo sensors(18,20) sensing the length of the power cord(2) from an outlet, and generating a variation of the tension; a microcomputer(22) generating a command of rotating the motor to release or wind the cord by the length as long as the sensed tension variation; a motor driving circuit(24); a hole sensor(26) sensing the rpm of the motor.

Description

Tension maintaining device of power cord built in self-propelled vacuum cleaner and control method

1 is a block diagram of a tension maintaining device of a power cord built in a self-propelled vacuum cleaner according to an embodiment of the present invention.

2 is a specific circuit diagram of the block diagram shown in FIG.

3 is a detailed external perspective view of the instruments included in the block diagram of FIG.

Figure 4 is a flow chart of the tension maintenance method of the power cord built in the self-propelled vacuum cleaner according to an embodiment of the present invention.

5 is a waveform diagram of a tension change signal output from the Hall sensor shown in FIG. 2 when the motor is rotated to determine the initial tension.

6 (a) and 6 (b) are waveform diagrams of the rotational speed signals outputted from the first and second optical sensors shown in FIG. 2 when the power cords are drawn out, respectively.

7 (a) and 7 (b) are waveform diagrams of rotational speed signals output from the first and second optical sensors shown in FIG. 2 when the power cord is wound.

* Explanation of symbols for main parts of the drawings

2: power cord 4: motor

6: rotating shaft 8: seat

10: spiral leaf spring 12: power cord mounting rotating plate

14: projection 16: power supply

18: first optical sensor 20: second optical sensor

22: microcomputer 24: motor drive circuit

26: Hall sensor 28: incoming power supply

30: transformer 32: converter

34: first voltage regulator 36: second voltage regulator

38: battery

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a self-propelled vacuum cleaner such as a robot vacuum cleaner (cleaning while walking by itself), and more particularly, to a tension holding device of a power cord built in a self-propelled vacuum cleaner and a control method thereof.

In a conventional vacuum cleaner, a power is pulled out to pull out a power cord, and when a push-in button is pressed to draw a power cord, the power cord is rapidly drawn by a leaf spring force in the cleaner.

In addition, the self-propelled vacuum cleaner is mostly wireless (no power cord), but in the self-propelled vacuum cleaner with a power cord, there is a basic condition that the power cord is linear between the vacuum cleaner and the outlet, so that it does not interfere with the operation of the self-propelled vacuum cleaner. Therefore, when using the power cord draw-out method using the existing push-in button, when the self-propelled vacuum cleaner is moved to a close distance to the outlet while the power cord is already drawn out, the power cord is curved and moved. There was a problem that the obstacles, and the distance between the self-propelled vacuum cleaner and the outlet, the greater the tension by the leaf spring is difficult to move the self-propelled vacuum cleaner, and finally the area where the cleaning is not performed because the self-propelled vacuum cleaner does not move There was a problem that occurred.

Therefore, the present invention has been made to solve the above problems, it is possible to smoothly run the self-propelled cleaner by maintaining a constant tension (Tension) at all times irrespective of the distance between the vacuum cleaner and the outlet, and all the targeted cleaning area The present invention provides a tension maintaining device for a power cord built in a self-cleaning vacuum cleaner that can be cleaned and a control method thereof.

In order to achieve the above object, the tension holding device of the power cord built in the self-propelled cleaner according to the present invention includes a motor, a spiral leaf spring having one inner end fixed to a surface of a rotating shaft of the motor, and an outer end of the spiral leaf spring. When the power cord is rotated while the power cord is wound around the fixed cord and the power cord is drawn out of the main body of the self-propelled vacuum cleaner and inserted into an outlet provided in the cleaning zone, the AC voltage is inputted through the power cord. A first and second optical sensors for outputting a tension unit and outputting a tension change signal when the distance between the power cord and the outlet is changed by the user when the main body is moved by a cleaning operation start command by the user; The motor receives the tension change signal outputted from the first and second optical sensors to operate the motor by an amount corresponding to the tension change signal. A microcomputer for outputting a rotation command signal for transmission, a motor driving circuit for receiving the motor rotation command signal from the microcomputer and rotating the motor in one of a clockwise direction and a counterclockwise direction, and a rotation speed of the motor. Hall sensor for sensing and outputting the rotational speed signal to the microcomputer, and an incoming power supply for supplying a direct current power to rotate the motor to the motor drive circuit when the power cord is drawn from the outlet. It is done.

In addition, the tension maintenance control method of the power cord built in the self-propelled vacuum cleaner according to the present invention, the first step of unplugging the cord and plugging it into the outlet, the second step of supplying power to the device, and the force over a certain tension to the motor shaft It is determined that the third step of rotating the motor clockwise until the fourth step comparing with the hall sensor whether the tension applied to the motor shaft is appropriate and the tension applied to the motor shaft in the fourth step are appropriate. In this case, the fifth step of rotating the motor three times in the counterclockwise direction, the cleaning step of the self-propelled vacuum cleaner is started, the sixth step of moving the self-propelled vacuum cleaner, and the first and second optical sensors which gradually increase the tension applied to the motor shaft. In the seventh step to be compared with the eighth step in which the motor is rotated three times in the counterclockwise direction when it is determined that the tension applied to the motor shaft is gradually increased in the seventh step, and in the seventh step, When it is determined that the tension on the shaft is not gradually increased, the ninth step of comparing the tension on the motor shaft is gradually weakened, and when it is determined that the tension on the motor shaft is gradually weakened at the ninth step, the motor is stopped. And a tenth step of rotating in a clockwise direction.

In addition, the tension maintenance control method of the power cord built in the self-propelled vacuum cleaner according to the present invention is the first step of drawing the cord from the main body of the self-propelled vacuum cleaner and inserting the cord into the outlet to which the power is supplied, the power supply to the self-propelled vacuum cleaner And a fourth step of comparing the second step to be rotated, the third step of rotating the motor clockwise, and whether the duration of the high level of the rotational speed signal input from the hall sensor is within a set range, and the hole in the fourth step. A fifth step of rotating the motor three times in a counterclockwise direction when the duration of the high level of the rotational speed signal input from the sensor is within the setting range; and a sixth step of starting the self-propelled cleaner and moving the self-propelled cleaner. And a seventh step of comparing whether there is a change in the level of the tension change signal input from the first optical sensor, and entering from the first optical sensor in the seventh step. If it is determined that there is a change in the level of the signal to be changed, the eighth step of comparing whether the change is the down mode from the high level to the low level and the level of the tension change signal input from the first optical sensor in the eighth step. If it is determined that the change is in the down mode, the ninth step of comparing whether the level of the rotational speed signal input from the second optical sensor is a high level and the level of the rotational speed signal input from the second optical sensor in the ninth step are high. A tenth step of increasing the number of counts for the length of the power cord if it is determined to be a level; an eleventh step of rotating the motor counterclockwise as much as the number of counts determined in the tenth step; Another feature is that the twelfth step of comparing whether or not the number of revolutions as determined in the tenth step has been rotated by rising.

Hereinafter, with reference to the accompanying drawings, an example of the present invention will be described in detail.

1 is a block diagram of the tension maintaining device of the power cord built in the self-propelled vacuum cleaner according to an embodiment of the present invention, Figure 2 is a specific circuit diagram of the block diagram shown in Figure 1, Figure 3 is a block diagram of Figure 1 Specific external perspective view of the instruments included in.

In Figs. 1 to 3, reference numeral 2 denotes a power cord provided in the self-propelled vacuum cleaner main body to supply power to the main body.

And, (4) is a motor used to draw out or draw in the power cord, the motor (4) is when the polarity of the DC voltage of 12V applied to the + terminal and the-terminal of the motor 4 is changed It is a bidirectional rotatable DC motor in which the rotation direction of the motor 4 is changed, and is a DC motor whose speed can be varied by PWM (pulse width modulation) control made in a microcomputer described later. In addition, a magnet piece 8 is installed at the end of the rotation shaft 6 of the motor 4.

And, (10) is a spiral leaf spring in which the inner end is fixed to the surface of the rotating shaft (6) of the motor (4), the spiral leaf spring 10 generates tension in the power cord (2).

(12) is a power cord mounting rotary plate 12 wound around the power cord (2) while the outer end of the spiral leaf spring 10 is fixed, this power cord is attached to the edge of the power cord mounting rotary plate (12) The protrusion 14 is repeatedly formed along the circumference in the circumferential outward direction of the mounting rotating plate 12.

And, when the power cord (2) is drawn out from the main body of the self-propelled vacuum cleaner and inserted into the outlet provided in the cleaning zone, 16 receives the AC voltage through the power cord (2) to output a DC voltage It is a power supply.

(18) and (20) is the first, second to detect the case that the main body is moved by the user's cleaning operation start command to change the distance between the power cord (2) and the outlet to output a tension change signal As a two-light sensor, the first and second light sensors 18 and 20 emit light on one side and receive light on one side, and the power cord mounting rotating plate 12 moves between the two signals. It is given to a microcomputer to be described later. That is, the first optical sensor 18 includes a light emitting diode D7 and a light receiving transistor Q10 to which a DC voltage V4 described later is applied via a resistor R21, and the light receiving transistor Q10 is used. The emitter terminal is connected to the input terminal I2 of the microcomputer, which will be described later. The second optical sensor includes a light emitting diode D8 and a light receiving transistor Q11 to which a DC voltage V4, which will be described later, is applied via a resistor R22, and an emitter terminal of the light receiving transistor Q11. It is connected to the input terminal I3 of the microcomputer to be described later. Two first and second optical sensors 18 and 20 are installed side by side at the position where the protrusion 14 of the power cord mounting rotating plate 12 moves, thereby disparaging the rotation signal of the power cord mounting rotating plate 12. Is positioned to receive input.

Also, 22 receives a rotation command signal for receiving the tension change signals output from the first and second optical sensors 18 and 20 to rotate the motor 4 by an amount corresponding to the tension change signal. A microcomputer is outputted, and 24 is a motor driving circuit for receiving a motor rotation command signal from the microcomputer 22 and rotating the motor 4 in one of a clockwise and counterclockwise direction. Is a Hall sensor which detects the rotational speed of the motor 4 and outputs this rotational signal to the microcomputer 22, and 28 is the motor driving circuit when the power cord 2 is drawn out from the outlet. An inlet power supply unit for supplying a DC power source capable of rotating the motor 4 to the 24.

On the other hand, the power supply unit 16 includes a transformer 30 for changing the magnitude of the AC voltage, a converter 32 for converting the AC voltage output from the transformer into a DC voltage V1, and an output from the converter 32. A first voltage regulator 34 for receiving the inputted DC voltage V1 and outputting a 12V DC voltage V2, and a 12V DC voltage V2 output from the first voltage regulator 34. The second voltage regulator 36 receives an input and outputs a DC voltage V4 of 5V.

The motor driving circuit 24 includes a transistor Q5 connected to a base terminal of the microcomputer 22 and turned on by a forward signal transmitted from the microcomputer 22, and the transistor Q5 of the transistor Q5. When the base terminal is connected to an emitter terminal and the transistor Q5 is turned on, the transistor Q3 is turned on by receiving a voltage from the transistor Q5 to the base terminal, and a resistor (a) is applied to the collector terminal of the transistor Q5. The base terminal is connected through R6 to the transistor Q2 and the microcomputer 22 that are turned on to apply a forward driving voltage to the motor 4 when the transistor Q5 and the transistor Q3 are turned on. The base terminal is connected to the transistor Q7 turned on by the reverse signal transmitted from the microcomputer 22, and the bay of the emitter terminal of the transistor Q7 When the transistor Q7 is connected and the transistor Q7 is turned on, the transistor Q4 is turned on by receiving a voltage from the transistor Q7 to the base terminal, and the resistor R7 is applied to the collector terminal of the transistor Q7. When the base terminal is connected and the transistor Q7 and the transistor Q4 are turned on, the transistor Q1 is turned on to apply a reverse driving voltage to the motor 4.

Q6 is a transistor that is turned on when the reverse signal is transmitted from the microcomputer 22 to block the forward signal by reliably making the potential level of the base terminal of the transistor Q5 low.

The inlet power supply unit 28 is a battery 38 that is charged by the DC voltage output from the converter 32 of the power supply unit 16, and is turned on when the user presses the inlet button + of the battery 38 A first switch SW1 for applying a voltage to the base terminal of the turn-on transistor Q7 of the motor driving circuit 24, and a second switch SW2 and a resistor R14 at the + terminal of the battery 38; When the user presses the lead-in button, the transistor Q9 is turned on by the + voltage of the battery 38 and the base terminal is connected to the collector terminal of the transistor Q9 through a resistor R13. Transistor Q10 which is turned on when the emitter terminal is connected to the + terminal of the battery 38 and the transistor Q9 is turned on to supply the + voltage of the battery 38 to the reverse driving voltage of the motor 4. )

In FIG. 2, Q8 is a transistor provided to prevent the discharge of the battery 38 by making sure that the voltage level of the base terminal of the transistor Q9 is kept low when the DC power supply V1 is supplied. D2, D3, D4, and D5 are the collector and emitter terminals of transistor Q1, the collector and emitter terminals of transistor Q2, the emitter and collector terminals of transistor Q3, and transistor Q4, respectively. And an emitter terminal of the transistor Q1, an emitter terminal of the transistor Q2, a collector terminal of the transistor Q3, and the transistor Q4. These diodes reinforce the voltage applied to the collector terminal of. As the transistor Q1 and the transistor Q2 of the motor driving circuit 24 described above, in this embodiment, a multi-arlington circuit in which two PnP-type transistors are jointly connected is used, and the motor driving circuit 24 described above is used. The transistor Q3 and the transistor Q4 are used in this embodiment in the multi-arlington circuit in which two PnP-type transistors are co-collector connected.

Hereinafter, a control method of a tension holding device of a power cord built in a self-propelled vacuum cleaner according to an embodiment of the present invention configured as described above will be described.

4 is a flowchart of a method for maintaining tension of a power cord built in a self-propelled vacuum cleaner according to an embodiment of the present invention, and FIG. 5 is a flow chart of the hall sensor shown in FIG. 2 when the motor is rotated to determine an initial tension. Fig. 6 (a) and Fig. 6 (b) are waveform diagrams of the rotational speed signals outputted from the first and second optical sensors shown in Fig. 2 when the power cord is drawn out, respectively. 7 (a) and 7 (b) are waveform diagrams of rotational speed signals output from the first and second optical sensors shown in FIG. 2 when the power cord is wound. In FIG. 4, S denotes a step.

First, the self-propelled vacuum cleaner is moved to the cleaning area, and then the power cord 2 is drawn out of the self-propelled vacuum cleaner main body to supply power to the self-propelled vacuum cleaner (step S1). As the power cord mounting rotary plate 12 is rotated in a counterclockwise direction (forward direction) as shown in FIG. 3, the outer end portion 40 of the spiral leaf spring 10 is rotated as the power cord 2 is drawn out. Tension is generated in the power cord 2 while rotating clockwise. At this time, since the inner end portion 42 of the spiral leaf spring 10 is fixed to the rotation shaft 6 of the motor 4, it does not rotate in the counterclockwise direction and remains stationary. That is, the rotation shaft 6 of the motor 4 is coupled to the inner shaft of the DC motor 4, so that even if a tension is generated by the spiral leaf spring 10, no separate electrical signal is applied. It does not rotate.

Next, when the power cord 2 is inserted into an outlet (step 1), when AC power is supplied to the main body (step S2), the AC power of 220V is transformed to a small voltage by the transformer 30, The voltage is converted into the DC voltage V1 by the converter 32.

The DC voltage V1 is applied to the anode terminal of the diode D6 of the incoming power supply 28 and one terminal of the resistor R11, so that the battery 38 is charged by the DC voltage V1. The transistor Q8 is turned on to turn off the transistor Q9. When the transistor Q9 is turned off, the transistor Q10 is turned off, thereby preventing the DC power charged in the battery 38 from being discharged to the motor driving circuit 24.

Next, the DC voltage V1 is converted into a DC voltage V2 of 12V through the first voltage regulator 34, and the DC voltage V2 is converted into a DC voltage V3 through the diode D1. The emitter terminals of the transistors Q1 and Q2 of the motor driving circuit 24, the cathode terminals of the diodes D2 and D3, and the collector terminals of the transistors Q10 of the incoming power supply unit 28 are applied. At the same time, the 12V DC voltage V2 is converted into a 5V DC voltage V4 through the second voltage regulator 36, and the DC voltage V4 of 5V is the power terminal I1 of the microcomputer 22. ), And at the same time, the DC voltage V4 is applied to the first optical sensor 18, the second optical sensor 20, and the hall sensor 26.

When the DC voltage V4 is supplied to the power supply terminal I1 of the microcomputer 22, a reverse signal (clockwise signal) is output from the output terminal O2 of the microcomputer 22 to output the transistor Q7 and the transistor. Q4 is turned on in turn, and then the transistor Q1 is turned on so that current flows from the DC voltage V3 terminal → transistor Q1 → motor − terminal of the motor 4 + terminal of the motor → transistor Q4 → ground terminal. As it flows to (G), the motor rotates in reverse (clockwise rotation). At this time, the inner end of the helical leaf spring 10 is rotated clockwise by the reverse rotation of the motor 4 to give a moment to rotate the power cord mounting rotating plate 12 clockwise, and by this moment the power cord (2) is pulled inside the main body. This power cord 2 is easily pulled to some extent, and the end is inserted into the outlet so that it is no longer pulled out.

Thus, the motor 4 is also easily rotated clockwise at first, but after a certain time it can no longer rotate. The waveform of detecting the initial rotational speed of the motor 4 by the Hall sensor 26 is detected by the Hall sensor 26 installed around the rotation axis of the motor 4. 5 degrees. As described above, the microcomputer 22 recognizes the high level duration interval T of the waveform input from the hall sensor 26 and senses the tension applied to the power cord 2 with the duration interval T. It is possible to detect whether the duration interval T is within a set time range (0.9 seconds to 1.1 seconds in this embodiment) (step S4) and the most suitable tension state when the high level duration is between 0.9 seconds and 1.1 seconds. Determined by

When the high level duration T of the waveform of the rotational speed signal output from the hall sensor 26 in step S4 is within the set time range (Yes), the positive direction is output from the output terminal O1 of the microcomputer 22. A signal (counterclockwise signal) is output so that the transistor Q5 and the transistor Q3 are turned on. Then, the transistor Q2 is turned on so that the current flows from the terminal of the DC voltage V3 to the transistor Q2 to the + terminal of the motor 4 to the-terminal of the motor 4 to the transistor Q3 to the ground terminal G. Flows and the motor 4 rotates in the forward direction (counterclockwise). At this time, the forward signal output from the output terminal (O1) of the microcomputer 22 is output for a corresponding time to rotate the motor 4 three times in the forward direction so that the motor 4 is rotated three times in the forward direction ( Step S5).

When the tension of the power cord is properly adjusted as described above, the self-propelled vacuum cleaner starts the cleaning operation while moving (step S6).

When the main body of the self-propelled vacuum cleaner moves in step S6, the microcomputer 22 detects whether there is a change in the waveform of the tension change signal output from the first optical sensor 18 (step S7), and when there is a change (yes In the case), the process proceeds to step S8 to determine whether the change generated in the first optical sensor 18 is in the down mode, which has fallen from the high level to the low level. At this time, the main body moves in a direction away from the outlet, and the power cord mounting rotating plate 12 rotates in a counterclockwise direction so that the waveforms of the tension change signals output from the first and second optical sensors 18 and 20 are respectively. In the case of the waveform shown in Figs. 6 (a) and 6 (b), it is determined as the down mode in step S8.

In this case, when it is determined in step S8 that the level change of the tension sensing signal output from the first optical sensor 18 is in the down mode (if yes), the process proceeds to step S9 where the level of the second optical sensor 20 is increased. If it is high level, and if it is high level (if yes), the process proceeds to step S10 in which the power cord allocated to the microcomputer 22 is equal to the number of pulses input from the first optical sensor 18 ( The number of counts for the length of 2) is increased (step S10). Next, a forward (counterclockwise) signal is output from the output terminal O1 of the microcomputer 22, and the motor 4 is driven by the microcomputer 22 through the operation of the motor driving circuit 24 described above. It rotates counterclockwise by the number of counts increased with respect to the length of the power cord 2 (step S11). As the motor 4 rotates in the counterclockwise direction, the tension that was strongly applied to the power cord 2 is returned to the initial proper tension.

Next, the process proceeds to step S12 and the microcomputer 22 transmits the increased power cord to the motor 4 through the rotation speed waveform inputted from the hall sensor 26 to the input terminal I4 of the microcomputer 22. Compared to the number of rotations of the length, and if the number of rotations of the increased power cord (2) is rotated (if yes), the above-described tension detection and the rotation control of the motor 4 are performed according to the result. .

On the other hand, if the duration of the high level of the rotational speed signal input from the hall sensor 26 in step S4 described above is not within the setting range (No), the flow proceeds to step S17 to counterclock the motor 4. Direction to release the tension, then proceed to step S3 to rotate the motor clockwise again. That is, in this case, when the self-propelled vacuum cleaner main body is far from the outlet, the power cord 2 is inserted into the outlet, and the motor ( 4) is rotated counterclockwise.

In addition, when it is determined in step S7 that there is no change in the first optical sensor 18 (if no), the microcomputer 22 continues to adjust the tension change signal output from the first optical sensor 18. Monitor the level changing.

On the other hand, the power cord mounting rotating plate 12 is rotated in the clockwise direction by the elasticity of the helical leaf spring (10) to move closer to the main body and the outlet from the first and second optical sensors (18, 20) Since the waveform of the tension change signal output from the waveforms is as shown in Figs. 7 (a) and 7 (b), the change in the level of the first optical sensor 18 falls down from the high level to the low level in step S8. If the mode is not the mode but the up mode is raised from the low level to the low level (if no), the process proceeds to step S13, where the microcomputer 22 compares whether the level of the second optical sensor 20 is a high level. . As a result, when the level of the second optical sensor 20 is high level (in the case of YES), the number of counts for the length of the power cord allocated in the microcomputer 22 is reduced (step S14). In this case, since the distance between the main body and the outlet is near, the power cord 2 is drawn into the main body by the elasticity of the spiral leaf spring 10. Therefore, the microcomputer 22 of the power cord 2 The motor 4 is prepared to be rotated in the reverse direction (clockwise) to maintain the weakened tension by the original set tension. Next, the flow proceeds to step S15, where a reverse signal is output from the output terminal O2 of the microcomputer 22, and the motor 4 rotates in the reverse direction (clockwise) through the operation of the motor driving circuit 24 described above. The inner end of the helical leaf spring 10 is rotated clockwise by a reduced number of counts relative to the length of the power cord 2. Therefore, the tension, which has weakened with respect to the power cord 2, returns to the initial proper tension, so that the power cord 2 between the main body and the outlet maintains a straight state. After the step S15, the process proceeds to step S16, and the microcomputer 22 causes the motor 4 to be driven by the rotation speed waveform inputted from the hall sensor 26 to the input terminal I4 of the microcomputer 22. Compare the number of turns with respect to the length of the reduced power cord 2 and if the number of turns with respect to the length of the reduced power cord 2 (if yes) Rotation control of the motor 4 is performed.

On the other hand, if it is determined in step S16 that the motor 4 has not been rotated by the number of counts for the reduced length of the power cord 2 (No), the process proceeds to step S15 to continue the motor 4 clockwise. Rotate

On the other hand, when the second optical sensor 20 is not at the lower level (if no) at steps S9 and S13, the microcomputer 22 continues to receive the tension input from the first optical sensor 18 again. Monitor whether there is a change in the level of the change signal.

On the other hand, if it is determined in step S12 that the motor 4 is not rotated by the number of counts for the increased length of the power cord 2 (No), the flow proceeds to step S11 to continue the motor 4 in a counterclockwise direction. Rotate

Next, an operation of introducing the power cord 2 into the main body after cleaning is explained.

When the power cord 2 is pulled out to the outlet while the power cord 2 is outside during cleaning, the power cord 2 is wound to some extent by the tension of the spiral leaf spring 10 and remains on the outside of the main body. The power cord 2 is pushed in by pressing a button. When the button is pressed, the first switch SW1 and the second switch SW2 are turned on.

That is, while the signal of the first switch SW1 is applied to the transistor Q7 through the resistor R18, the power supply of the battery 38 turns on the transistors Q9 and Q10 through the resistor R14, thereby turning on the power supply V3. The motor 4 rotates in reverse rotation (clockwise) by supplying the motor to be the power supply V3.

As the motor 4 reversely rotates, the power cord mounting rotating plate 12 reversely rotates through the helical leaf spring 10 so that the power cord 2 is completely inserted into the main body.

On the other hand, in the above-described embodiment of the present invention, the present invention is limited to the self-propelled vacuum cleaner, but the tension retaining device of the power cord and the control method thereof according to the present invention draw the power cord by a general push button and manually The power cord is drawn out by pulling the power cord, and it is natural that the user can be applied to a hand-held cleaner which directly holds and cleans the main body.

As described above, according to the tension holding device of the power cord built in the self-propelled cleaner according to the present invention and a method of controlling the same, the change in tension of the power cord generated by the movement of the self-propelled cleaner main body is the power cord mounting rotary plate It is detected by the optical sensor installed around and compensates for the detected tension change by the rotation of the motor, so that the constant tension is always maintained on the power cord regardless of the distance between the self-propelled cleaner and the outlet so that the running of the self-propelled cleaner This is done smoothly, and as a result, all of the targeted cleaning zones are cleaned, resulting in a very good effect.

In addition, the present invention has the effect that the self-propelled vacuum cleaner and power cord that is a requirement that the self-propelled robot cleaner is always linearly maintained at a constant tension, the cleaning operation of the self-propelled vacuum cleaner is executed smoothly.

In addition, when the user wants to move the self-propelled cleaner in the cleaning zone, the power cord is smoothly drawn out by simply moving the main body without intentionally unplugging it from the main body by applying power to the power cord.

Claims (12)

In the tension holding device of a power cord built in a self-propelled vacuum cleaner, a motor, a spiral leaf spring having an inner end fixed to a surface of a rotating shaft of the motor, and a power cord wrapped around the power cord while the outer end of the spiral leaf spring is fixed A mounting rotary plate, a power supply unit which receives an AC voltage through the power cord and outputs a DC voltage when the power cord is drawn out of the main body of the self-propelled vacuum cleaner and inserted into an outlet provided in a cleaning area; When the distance between the power cord and the outlet is changed by the operation start command is detected, the first and second optical sensors for detecting the output of the tension change signal and the tension output from the first and second optical sensors Do not receive a change signal and output a rotation command signal to rotate the motor by an amount corresponding to the tension change signal. And a motor drive circuit for receiving a motor rotation command signal from the microcomputer and rotating the motor in one of a clockwise and counterclockwise direction, and detecting the rotational speed of the motor and converting the rotational speed signal into the microcomputer. A power sensor built in a self-propelled vacuum cleaner comprising a hall sensor outputting to a computer and an inlet power supply unit for supplying a DC power for rotating the motor to the motor driving circuit when the power cord is drawn out of the outlet. Cord tensioner. The power cord tensioning device of claim 1, wherein the power cord mounting rotary plate includes a protrusion formed repeatedly along the circumference in the circumferential outer direction of the rotary plate. 2. The power supply of claim 1, wherein the power supply unit inputs a transformer for changing the magnitude of an AC voltage, a converter for converting an AC voltage output from the transformer into a DC voltage V1, and a DC voltage V1 output from the converter. A first voltage regulator for outputting a 12V DC voltage V2 and a second voltage regulator for outputting a DC voltage V4 of 5V by receiving a 12V DC voltage V2 output from the first voltage regulator. Tension maintaining device of the power cord built-in vacuum cleaner characterized in that made. 2. The motor driving circuit of claim 1, wherein the motor driving circuit comprises: a transistor Q5 connected to a base terminal of the microcomputer and turned on by a forward signal transmitted from the microcomputer; and a base on the emitter terminal of the transistor Q5. When the transistor is connected and the transistor Q5 is turned on, the transistor Q3 is turned on by receiving a voltage from the transistor Q5 to the base terminal, and the base is connected to the collector terminal of the transistor Q5 through a resistor R6. When the transistor is connected and the transistor Q5 and the transistor Q3 are turned on, the transistor Q2 turns on to apply a forward driving voltage to the motor, and a base terminal is connected to the microcomputer 22 to connect the microcomputer. The transistor Q7 is turned on by the reverse signal transmitted from 22, and the emitter terminal of the transistor Q7 is based on the transistor Q7. When the transistor Q7 is turned on by being self-connected, the transistor Q4 is turned on by receiving a voltage from the transistor Q7 to the base terminal, and the base terminal is connected to the collector terminal of the transistor Q7 through a resistor R7. Is connected to the transistor (Q7) and the transistor (Q4) is turned on when the tension maintenance device of the power cord built in the self-propelled vacuum cleaner, characterized in that consisting of a transistor (Q1) for applying a reverse drive voltage to the motor. The turn-on transistor of claim 1, wherein the incoming power supply unit is charged with a DC voltage output from the converter of the power supply unit, and is turned on when the user presses an inlet button to turn the + voltage of the battery into the transistor for turning on the motor driving circuit. The first switch SW1 applied to the base terminal of Q7 and the + terminal of the battery 38 are connected to the + terminal of the battery 38 via the second switch SW2 and the resistor R14. The transistor Q9 is turned on by the + voltage of the battery, and the base terminal is connected to the collector terminal of the transistor Q9 through a resistor R13, and the emitter terminal is connected to the + terminal of the battery 38. When the transistor Q9 is turned on, it is turned on so that the transistor Q10 is configured to supply the + voltage of the battery to the reverse driving voltage of the motor. Tension maintaining device of power cord. The first step of unplugging and plugging the cord into the outlet, the second step of supplying power to the self-propelled vacuum cleaner, the third step of rotating the motor clockwise until a force above a certain tension is applied to the motor shaft, and the motor side A fourth step for comparing the losing tension by a Hall sensor, a fifth step for rotating the motor three times in a counterclockwise direction when it is determined that the tension applied to the motor shaft is appropriate in the fourth step, and a self-propelled vacuum cleaner. Cleaning step is started and the sixth step in which the self-propelled cleaner moves, the seventh step compared by the first and second optical sensors in which the tension applied to the motor shaft gradually increases, and the seventh step is applied to the motor shaft. If it is determined that the tension gradually increases, the eighth step of rotating the motor counterclockwise; and if it is determined that the tension applied to the motor shaft is not gradually increased in the seventh step, the motor A self-acting step comprising a ninth step for comparing whether the tension applied to the motor is gradually weakened and a tenth step for rotating the motor clockwise if it is determined that the tension on the motor shaft is gradually weakened in the ninth step. Tension maintenance control method of power cord built in vacuum cleaner. 7. The self-propelled vacuum cleaner according to claim 6, wherein when it is determined that the tension applied to the motor shaft is not appropriate in the fourth step, the motor is rotated three times in the counterclockwise direction and proceeds to the third step. Tension maintenance control method of built-in power cord. A first step of drawing out the cord from the main body of the self-propelled vacuum cleaner and inserting the cord into a power outlet, a second step of supplying power to the self-propelled vacuum cleaner, a third step of rotating the motor clockwise, and a hole The fourth step for comparing whether the duration of the high level of the rotational speed signal input from the sensor is within the setting range, and the motor when the duration of the high level of the rotational speed signal input from the hall sensor in the fourth step is within the setting range 5th step of rotating the counterclockwise three times, a cleaning operation of the self-propelled vacuum cleaner is started, and the sixth step of moving the self-propelled vacuum cleaner and the level of the tension change signal input from the first optical sensor are compared. When it is determined that the level of the signal input from the first optical sensor is changed in the seventh step and the seventh step, the change is made at a high level. The eighth step of comparing the down mode to the low level and the rotation input from the second optical sensor when it is determined that the change in the level of the tension change signal input from the first optical sensor is the down mode in the eighth step; A ninth step of comparing whether the level of the hand signal is a high level; and if it is determined in the ninth step that the level of the rotational speed signal input from the second optical sensor is a high level, the number of counts for the length of the power cord is increased. A tenth step, an eleventh step of rotating the motor counterclockwise as much as the number of counts determined in the tenth step and a tenth step of comparing whether the motor has been rotated by the number of counts determined in the tenth step; Tension maintenance control method of the power cord embedded in the self-propelled vacuum cleaner, characterized in that consisting of 12 steps. 10. The method of claim 8, wherein when it is determined that the duration of the high level of the rotational speed signal input from the hall sensor is not within the setting range in the fourth step, the process proceeds to the seventeenth step and rotates the motor three times in the counterclockwise direction. And maintaining the tension of the power cord embedded in the self-propelled vacuum cleaner, characterized in that the process proceeds to the third step. The rotation speed signal of claim 8, wherein when it is determined that the change in the level of the rotation speed signal input from the first optical sensor is not in the down mode in the eighth step, the flow advances to the thirteenth step. If it is determined that the level of the rotational speed signal input from the second optical sensor is a high level in this thirteenth step, the process proceeds to the fourteenth step and counts the number of counts for the length of the power cord. Reduce the number, and then proceed to the fifteenth step to rotate the motor clockwise as much as the number of counts determined in the fourteenth step; then, proceed to the sixteenth step and count the number of counts determined by the motor in the fourteenth step. Tension maintenance control method of the power cord built in the self-propelled vacuum cleaner, characterized in that compared with the corresponding rotation. The method as claimed in claim 8, wherein in the twelfth step, if it is determined that the motor is not rotated by the number of counts determined in the ten steps, the motor proceeds to the first step to rotate the motor counterclockwise. Tension maintenance control method of the power cord built-in vacuum cleaner. The method of claim 10, wherein in the sixteenth step, if it is determined that the motor is not rotated by the number of counts determined in the fourteenth step, the motor proceeds to the fifteenth step to rotate the motor clockwise. How to maintain tension of the power cord built in self-propelled vacuum cleaner.